Pith Number

pith:MV5L4GOJ

pith:2022:MV5L4GOJUAA4QNVVHO44UMI5B4

not attested not anchored not stored refs pending

Multi-agent systems with CBF-based controllers -- collision avoidance and liveness from instability

Mario Santillo, Mrdjan Jankovic, Yan Wang

arxiv:2207.04915 v1 · 2022-07-11 · eess.SY · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{MV5L4GOJUAA4QNVVHO44UMI5B4}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T04:39:04.959052Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

657abe19c9a001c836b53bb9ca311d0f2abf487456425d10e58091a909754650

Aliases

arxiv: 2207.04915 · arxiv_version: 2207.04915v1 · doi: 10.48550/arxiv.2207.04915 · pith_short_12: MV5L4GOJUAA4 · pith_short_16: MV5L4GOJUAA4QNVV · pith_short_8: MV5L4GOJ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/MV5L4GOJUAA4QNVVHO44UMI5B4 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 657abe19c9a001c836b53bb9ca311d0f2abf487456425d10e58091a909754650

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f174e8b341f6ac9a83e1525e736253b3ed09b2d6ec37f0fdb3b97d9b89bc6e25",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2022-07-11T14:50:46Z",
    "title_canon_sha256": "90f4c5ff88a37ad857a76253d92cde64edc17ba5eb599e9cd49048b0486eee58"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2207.04915",
    "kind": "arxiv",
    "version": 1
  }
}